WO2006061276A1 - Procede et dispositif de deceleration de vehicule apres une collision - Google Patents

Procede et dispositif de deceleration de vehicule apres une collision Download PDF

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Publication number
WO2006061276A1
WO2006061276A1 PCT/EP2005/055225 EP2005055225W WO2006061276A1 WO 2006061276 A1 WO2006061276 A1 WO 2006061276A1 EP 2005055225 W EP2005055225 W EP 2005055225W WO 2006061276 A1 WO2006061276 A1 WO 2006061276A1
Authority
WO
WIPO (PCT)
Prior art keywords
driver
collision
vehicle
braking
intervention
Prior art date
Application number
PCT/EP2005/055225
Other languages
German (de)
English (en)
Inventor
Frank Ewerhart
Reiner Marchthaler
Mario Kroeninger
Stephan Stabrey
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2006061276A1 publication Critical patent/WO2006061276A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/085—Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R2021/01313—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over monitoring the vehicle steering system or the dynamic control system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/024—Collision mitigation systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings

Definitions

  • the invention relates to a method and a device for vehicle deceleration after a collision.
  • Controllability of the vehicle Also known are systems such as the hydraulic brake assist, which detect an emergency situation from the operation of the vehicle (e.g., brake and accelerator pedal operation) and assist the driver-initiated braking to maximize the maximum delay possible. If there is an accident, the occupants are restrained by restraint systems such as belts or
  • Systems for automatic emergency braking use information obtained with the help of environment sensors to predict a possible accident and to trigger emergency braking if unavoidable.
  • the invention relates to a method for controlling the brake system of a motor vehicle, in which the presence of a collision of the motor vehicle is detected and in which a driver-independent braking intervention is performed in a present collision.
  • the essence of the invention is characterized in that, depending on at least one withdrawal condition, the intensity of the
  • the driver Due to the remaining residual speed, the driver is given the opportunity to quickly remove the vehicle from the accident area in order to avoid consequential accidents. Under the intensity of the braking intervention, e.g. the built-up brake pressure at the wheels or the built-up braking torque to be understood.
  • An advantageous embodiment of the invention is characterized in that it is determined whether the vehicle is not manageable after the collision by the driver and that a driver-independent braking intervention is performed when the vehicle is determined as not controllable by the driver after the collision.
  • An advantageous embodiment of the invention is characterized in that the presence of a collision is determined on the basis of output signals of retaining means associated sensors.
  • An advantageous embodiment of the invention is that the presence of a collision is detected on the basis of the output signals of acceleration sensors.
  • An advantageous embodiment of the invention is that the presence of a collision is detected on the basis of the output signals of airbag sensors.
  • the sensors mentioned are available as standard in modern equipped vehicles.
  • An advantageous embodiment of the invention is characterized in that - the speed of the vehicle is determined after the collision and that a driver-independent braking intervention is performed when the speed exceeds a predetermined upper threshold.
  • An advantageous embodiment of the invention is characterized in that, depending on the at least one return condition, the braking intervention is terminated.
  • An advantageous embodiment of the invention is characterized in that the braking intervention is terminated when the speed of the vehicle falls below the predetermined lower threshold.
  • An advantageous embodiment of the invention is characterized in that there is a full braking as braking.
  • An advantageous embodiment of the invention is characterized in that in addition to the detection of the collision, the output signals from sensors of a
  • Vehicle dynamics control system These output signals can also enter into the classification of the collision alternatively or additionally.
  • the additional sensors allow for improved detection and classification of the present collision. - A -
  • An advantageous embodiment of the invention is characterized in that the output signals from sensors of a vehicle dynamics control system and / or sensors of an airbag system are included in the determination as to whether the vehicle can not be controlled by the driver after the collision.
  • An advantageous embodiment of the invention is characterized in that the output signals of at least one sensor of a vehicle dynamics control system are evaluated and - these output signals in the selection of the braked wheels and / or the
  • Driver request is detected after a withdrawal of the braking intensity on the basis of a force exerted by the driver operating the accelerator pedal and / or the brake pedal.
  • the amount of operation may be e.g. to act on the actuation speed of the pedal or the covered actuation path of the pedal or its operating angle.
  • the invention comprises a device for controlling the brake system of a motor vehicle, comprising
  • Collision detection means for detecting the presence of a collision of the motor vehicle
  • Brake control means for performing a driver-independent braking intervention in a present collision.
  • the core of the device according to the invention consists in that braking intensity reduction means are furthermore provided by which the intensity of the braking intervention is withdrawn, by means of which the intensity of the braking intervention is withdrawn as a function of at least one return condition. It is also possible, instead of or in addition to the brake system, to control the engine management and / or the gearbox independently of the driver.
  • an advantageous embodiment of the invention is characterized in that in addition to the driver-independent braking intervention, a driver-independent engagement in the
  • FIG. 1 shows the structure of an embodiment of the method according to the invention embedded in the system according to the invention.
  • FIG. 2 shows a further embodiment of the method according to the invention.
  • Speed increases the likelihood that the driver can stabilize the vehicle and a subsequent accident may be avoided.
  • the data of the sensors of the airbag control unit (for example, central acceleration sensors, externalized acceleration sensors on the front of the vehicle and the sides of the vehicle, pressure sensors in the doors, etc.) are continuously evaluated so that a collision can be detected at any time.
  • a classification of the accident in terms of severity and possibly impact location and angle of the collision object can be performed on your own vehicle.
  • An automatic braking is triggered and executed by means of an active or driver-independent braking system when an accident is detected in which
  • the deceleration of the vehicle can be done for example in the form of full braking. But it can also be a braking with variable delay, so that is greatly delayed, for example, at high speed to quickly reduce kinetic energy. If the vehicle moves slowly after a certain time, can the braking can be withdrawn since the driver's startle reaction stops and the vehicle is easier to control by the driver at low speeds. This variant would then allow the driver to take control of the vehicle and, for example, allow the vehicle to drive away from places at high risk of another accident. These places of high risk are, for example, intersections, railroad crossings, or lanes on the highway.
  • Fig. 1 shows the structure of the present invention.
  • the brake actuators are activated in block 102.
  • the hydraulics underlying an ESP system or EHB system or an electronically controllable brake booster can be used.
  • the blocks 150, 151 and 152 may be supplied with additional input signals originating from an optional ESP sensor 101.
  • An ESP sensor typically includes wheel speed sensors, a yaw rate sensor, a lateral acceleration sensor and a steering angle sensor.
  • FIG. 2 shows a further embodiment of the method according to the invention.
  • a query is made in block 201 as to whether a collision has occurred.
  • it can additionally be queried whether the vehicle speed exceeds an upper limit value and whether the vehicle in the current state can no longer be controlled by the driver. If the answer is "No” (always labeled “n” in FIG. 2) then returns to block 200. On the other hand, if the answer is "yes” (always marked “y” in FIG. 2), then in block 202 a driver-independent braking intervention is performed.
  • a query is made in block 203 as to whether the speed of the vehicle falls below a predefined lower threshold value or whether the return condition for canceling the intensity of the braking intervention is fulfilled If the answer is "No", then it branches back to the input of block 203. If the answer is, yes ", then in block 204 the intensity of the braking intervention is reduced or the braking intervention is even completely canceled. In block 205, the process ends.
  • the possibility of an additional withdrawal of the intensity of the braking intervention by the driver may be provided, for example when detecting an accelerator operation by the driver. This is advantageous, for example, when the driver has the vehicle under control again after the collision, even though the current vehicle speed is still greater than the lower threshold value.
  • the automatically triggered in the case of a detected collision deceleration of the vehicle is also withdrawn by a suitable control of engine management or transmission before the vehicle comes to a halt. This also allows the driver to get the vehicle out of the danger zone.
  • the driver indicates that the automatic deceleration is to be terminated. This can e.g. be detected on the basis of the operation of accelerator pedal and / or brake pedal.

Abstract

L'invention concerne un procédé pour commander le système de freinage d'un véhicule automobile, procédé selon lequel l'occurrence d'une collision du véhicule automobile est détectée (201) et, en cas de collision, une intervention sur les freins indépendante du conducteur est engagée (202). Cette invention se caractérise en ce que l'intensité de l'intervention sur les freins est diminuée (204) en fonction d'au moins une condition de reprise (203).
PCT/EP2005/055225 2004-12-07 2005-10-13 Procede et dispositif de deceleration de vehicule apres une collision WO2006061276A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004058814A DE102004058814A1 (de) 2004-12-07 2004-12-07 Verfahren und Vorrichtung zur Fahrzeugverzögerung nach einer Kollision
DE102004058814.7 2004-12-07

Publications (1)

Publication Number Publication Date
WO2006061276A1 true WO2006061276A1 (fr) 2006-06-15

Family

ID=35510486

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2005/055225 WO2006061276A1 (fr) 2004-12-07 2005-10-13 Procede et dispositif de deceleration de vehicule apres une collision

Country Status (2)

Country Link
DE (1) DE102004058814A1 (fr)
WO (1) WO2006061276A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2004462B1 (fr) 2006-04-03 2015-09-09 Robert Bosch GmbH Desactivation d'une fonction de securite par freinage

Families Citing this family (18)

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Publication number Priority date Publication date Assignee Title
DE102006034808A1 (de) * 2006-04-03 2007-10-04 Robert Bosch Gmbh Bremsstrategie für Fahrzeuge mit manueller Schaltung
DE102006059036A1 (de) * 2006-12-14 2008-06-19 Volkswagen Ag Verfahren und Bremssystem zum Vermeiden von Multikollisionsunfällen und Abmildern ihrer Auswirkungen
DE102008010667B4 (de) 2007-02-22 2023-10-05 Continental Autonomous Mobility Germany GmbH Verfahren und Vorrichtung zum Unterstützen eines Fahrzeugbedieners
DE102007025960A1 (de) 2007-06-04 2008-12-11 Robert Bosch Gmbh Verfahren zur Einstellung einer Bremsanlage in einem Fahrzeug
FR2920122A1 (fr) * 2007-08-21 2009-02-27 Peugeot Citroen Automobiles Sa Procede de controle de la trajectoire d'un vehicule automobile apres une collision
DE102007044988A1 (de) * 2007-09-20 2009-04-09 Robert Bosch Gmbh Verfahren zur Beeinflussung der Bewegung eines Fahrzeugs
DE102008042962A1 (de) * 2008-10-20 2010-04-22 Robert Bosch Gmbh Verfahren zur Einstellung eines Bremssystems eines Fahrzeugs
DE102008044214B4 (de) 2008-12-01 2024-05-08 Robert Bosch Gmbh Verfahren zur Einstellung eines Bremssystems in einem Fahrzeug
DE102009002375B4 (de) 2009-04-15 2022-10-20 Robert Bosch Gmbh Verfahren zur Aktivierung und/oder Ansteuerung von mindestens einem Schutzsystem zur Beeinflussung einer Fahrzeugzeugbewegung
DE102009002815A1 (de) 2009-05-05 2010-11-11 Robert Bosch Gmbh Verfahren zur Aktivierung und/oder Ansteuerung von mindestens einem Bremssystem zur Beeinflussung einer Fahrzeugzeugbewegung
DE102009047373A1 (de) 2009-12-02 2011-06-09 Robert Bosch Gmbh Verfahren zur Aktivierung und/oder Ansteuerung von mindestens einer reversiblen Rückhalteeinrichtung
DE102011005395A1 (de) 2010-03-30 2011-12-15 Continental Teves Ag & Co. Ohg Verfahren und Vorrichtung zur Fahrzeugverzögerung
DE102012203733B3 (de) 2012-03-09 2013-12-19 Ford Global Technologies, Llc Verfahren und Vorrichtung zum autonomen Bremsen eines Kraftfahrzeugs nach einer Erstkollision
DE102013204893A1 (de) 2013-03-20 2014-09-25 Robert Bosch Gmbh Verfahren und System zur Vermeidung einer Kollision im Zusammenhang mit Fahrzeugen
DE102015225800A1 (de) 2015-12-17 2017-06-22 Robert Bosch Gmbh Verfahren zur Beeinflussung einer Fahrzeugbewegung
DE102016207284A1 (de) 2016-04-28 2017-11-02 Robert Bosch Gmbh Automatisierte Parkbremse und Verfahren zum Steuern einer automatisierten Parkbremse nach einem Unfall eines Kraftfahrzeugs
CN110065462B (zh) * 2018-01-24 2022-05-03 现代自动车株式会社 车辆的安全气囊点火控制系统及其控制方法
DE102021206563A1 (de) * 2021-06-24 2022-12-29 Robert Bosch Gesellschaft mit beschränkter Haftung Bremssystem und Verfahren zum Betreiben eines Bremssystems

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EP0568901A2 (fr) * 1992-04-27 1993-11-10 Japan Electronics Industry, Ltd. Système de sacs gonflables pour véhicules
DE19753971A1 (de) * 1997-12-05 1999-06-10 Bosch Gmbh Robert Verfahren und Vorrichtung zur Steuerung einer Bremsanlage eines Fahrzeugs
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DE19944556B4 (de) * 1999-09-17 2008-11-06 Robert Bosch Gmbh Verfahren und Vorrichtung zur Steuerung einer Bremsanlage
JP2006525174A (ja) * 2003-03-26 2006-11-09 コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト 車両用の電子制御システム及び車両システムで運転者に依存しない少なくとも１つの介入を算出する方法

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US3986577A (en) * 1974-04-11 1976-10-19 Bengt Ebbe Oscar Ebbesson Device for detecting obstructions in path of a vehicle
EP0568901A2 (fr) * 1992-04-27 1993-11-10 Japan Electronics Industry, Ltd. Système de sacs gonflables pour véhicules
US6017102A (en) * 1996-11-18 2000-01-25 Toyota Jidosha Kabushiki Kaisha Automatic-braking control system for a motor vehicle
DE19753971A1 (de) * 1997-12-05 1999-06-10 Bosch Gmbh Robert Verfahren und Vorrichtung zur Steuerung einer Bremsanlage eines Fahrzeugs
EP1010596A2 (fr) * 1998-12-17 2000-06-21 DaimlerChrysler AG Système de sécurité pour un véhicule automobile
DE19912301C1 (de) * 1999-03-19 2001-01-25 Arthur Rogler Sicherheitseinrichtung für ein Kraftfahrzeug
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2004462B1 (fr) 2006-04-03 2015-09-09 Robert Bosch GmbH Desactivation d'une fonction de securite par freinage

Also Published As

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